Tracking Trajectories of a Quad-Rotor Using Output-Linear Regulator with Hybrid Exosystem, Dwell-Time Analysis

The objective of this work is to obtain an algorithm that defines an affordable trajectory in order to cover any points in space in function of dynamics capabilities of a quadrotor. Using the exosystem concept of output linear regulation, an inverse methodology was implemented, that goes from the required points, to Bézier curves and finally, to the differential equation of the exosystem. The condition for the existence of the solution of Francis equation was implemented in order to get a metric to quantify the required time for trajectory tracking in function of the dynamical capabilities of the plant and the maximal initial error. Under the given control framework, tracking performance is primarily influenced by plant dynamics. Moreover, trajectories can be continuously tracked due to the invariance properties of output linear regulators. These results are applicable only on the linear region of plant dynamics.